Upload policy weights, train config and readme

README.md

@@ -2,15 +2,15 @@
 datasets: quincyu/trace_robotwin
 library_name: lerobot
 license: apache-2.0
-model_name: tg_diffusion
+model_name: trace_act
 pipeline_tag: robotics
 tags:
-- tg_diffusion
-- lerobot
 - robotics
+- trace_act
+- lerobot
 ---
 
-# Model Card for tg_diffusion
+# Model Card for trace_act
 
 <!-- Provide a quick summary of what the model is/does. -->
 

config.json

@@ -1,6 +1,6 @@
 {
-    "type": "tg_diffusion",
-    "n_obs_steps": 2,
+    "type": "trace_act",
+    "n_obs_steps": 1,
     "input_features": {
         "observation.state": {
             "type": "STATE",
@@ -53,7 +53,7 @@
             ]
         }
     },
-    "device": "cuda",
+    "device": "cpu",
     "use_amp": false,
     "use_peft": false,
     "push_to_hub": true,
@@ -62,53 +62,39 @@
     "tags": null,
     "license": null,
     "pretrained_path": null,
-    "horizon": 16,
-    "n_action_steps": 8,
+    "vjepa_model_id": "facebook/vjepa2-vitg-fpc64-256",
+    "trace_horizon": 20,
+    "trace_predictor_ckpt": "checkpoints/trace_predictor_final.pth",
+    "video_key": "observation.video",
+    "language_key": "observation.language",
+    "chunk_size": 20,
+    "n_action_steps": 20,
+    "drop_n_last_frames": 10,
     "ee_pixel_image_resolution": 256,
     "normalization_mapping": {
         "VISUAL": "MEAN_STD",
-        "STATE": "MIN_MAX",
+        "STATE": "MEAN_STD",
         "ACTION": "MIN_MAX"
     },
-    "drop_n_last_frames": 7,
     "vision_backbone": "resnet18",
-    "crop_shape": [
-        224,
-        224
-    ],
-    "crop_is_random": true,
-    "pretrained_backbone_weights": null,
-    "use_group_norm": true,
-    "spatial_softmax_num_keypoints": 32,
-    "use_separate_rgb_encoder_per_camera": false,
-    "down_dims": [
-        512,
-        1024,
-        2048
-    ],
-    "kernel_size": 5,
-    "n_groups": 8,
-    "diffusion_step_embed_dim": 128,
-    "use_film_scale_modulation": true,
-    "noise_scheduler_type": "DDPM",
-    "num_train_timesteps": 100,
-    "beta_schedule": "squaredcos_cap_v2",
-    "beta_start": 0.0001,
-    "beta_end": 0.02,
-    "prediction_type": "epsilon",
-    "clip_sample": true,
-    "clip_sample_range": 1.0,
-    "num_inference_steps": null,
-    "do_mask_loss_for_padding": false,
+    "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+    "replace_final_stride_with_dilation": false,
+    "pre_norm": false,
+    "dim_model": 512,
+    "n_heads": 8,
+    "dim_feedforward": 3200,
+    "feedforward_activation": "relu",
+    "n_encoder_layers": 4,
+    "n_decoder_layers": 1,
+    "use_vae": true,
+    "latent_dim": 32,
+    "n_vae_encoder_layers": 4,
+    "temporal_ensemble_coeff": null,
+    "dropout": 0.1,
+    "kl_weight": 10.0,
+    "optimizer_lr": 1e-05,
+    "optimizer_weight_decay": 0.0001,
+    "optimizer_lr_backbone": 1e-05,
     "compile_model": false,
-    "compile_mode": "max-autotune",
-    "optimizer_lr": 0.0001,
-    "optimizer_betas": [
-        0.95,
-        0.999
-    ],
-    "optimizer_eps": 1e-08,
-    "optimizer_weight_decay": 1e-06,
-    "scheduler_name": "cosine",
-    "scheduler_warmup_steps": 500
+    "compile_mode": "reduce-overhead"
 }

model.safetensors

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3c7811a89d618b1cf1057c721c66c7601addcf9c861e9cd4a04167043ec21de9
-size 1090486544
+oid sha256:5d44b9d6ea1c5763964bd4511223f56c0e3f1e8c12dbe45cddc2b99a25a860f9
+size 5248235688

train_config.json

@@ -81,8 +81,8 @@
     },
     "env": null,
     "policy": {
-        "type": "tg_diffusion",
-        "n_obs_steps": 2,
+        "type": "trace_act",
+        "n_obs_steps": 1,
         "input_features": {
             "observation.state": {
                 "type": "STATE",
@@ -135,7 +135,7 @@
                 ]
             }
         },
-        "device": "cuda",
+        "device": "cpu",
         "use_amp": false,
         "use_peft": false,
         "push_to_hub": true,
@@ -144,98 +144,79 @@
         "tags": null,
         "license": null,
         "pretrained_path": null,
-        "horizon": 16,
-        "n_action_steps": 8,
+        "vjepa_model_id": "facebook/vjepa2-vitg-fpc64-256",
+        "trace_horizon": 20,
+        "trace_predictor_ckpt": "checkpoints/trace_predictor_final.pth",
+        "video_key": "observation.video",
+        "language_key": "observation.language",
+        "chunk_size": 20,
+        "n_action_steps": 20,
+        "drop_n_last_frames": 10,
         "ee_pixel_image_resolution": 256,
         "normalization_mapping": {
             "VISUAL": "MEAN_STD",
-            "STATE": "MIN_MAX",
+            "STATE": "MEAN_STD",
             "ACTION": "MIN_MAX"
         },
-        "drop_n_last_frames": 7,
         "vision_backbone": "resnet18",
-        "crop_shape": [
-            224,
-            224
-        ],
-        "crop_is_random": true,
-        "pretrained_backbone_weights": null,
-        "use_group_norm": true,
-        "spatial_softmax_num_keypoints": 32,
-        "use_separate_rgb_encoder_per_camera": false,
-        "down_dims": [
-            512,
-            1024,
-            2048
-        ],
-        "kernel_size": 5,
-        "n_groups": 8,
-        "diffusion_step_embed_dim": 128,
-        "use_film_scale_modulation": true,
-        "noise_scheduler_type": "DDPM",
-        "num_train_timesteps": 100,
-        "beta_schedule": "squaredcos_cap_v2",
-        "beta_start": 0.0001,
-        "beta_end": 0.02,
-        "prediction_type": "epsilon",
-        "clip_sample": true,
-        "clip_sample_range": 1.0,
-        "num_inference_steps": null,
-        "do_mask_loss_for_padding": false,
+        "pretrained_backbone_weights": "ResNet18_Weights.IMAGENET1K_V1",
+        "replace_final_stride_with_dilation": false,
+        "pre_norm": false,
+        "dim_model": 512,
+        "n_heads": 8,
+        "dim_feedforward": 3200,
+        "feedforward_activation": "relu",
+        "n_encoder_layers": 4,
+        "n_decoder_layers": 1,
+        "use_vae": true,
+        "latent_dim": 32,
+        "n_vae_encoder_layers": 4,
+        "temporal_ensemble_coeff": null,
+        "dropout": 0.1,
+        "kl_weight": 10.0,
+        "optimizer_lr": 1e-05,
+        "optimizer_weight_decay": 0.0001,
+        "optimizer_lr_backbone": 1e-05,
         "compile_model": false,
-        "compile_mode": "max-autotune",
-        "optimizer_lr": 0.0001,
-        "optimizer_betas": [
-            0.95,
-            0.999
-        ],
-        "optimizer_eps": 1e-08,
-        "optimizer_weight_decay": 1e-06,
-        "scheduler_name": "cosine",
-        "scheduler_warmup_steps": 500
+        "compile_mode": "reduce-overhead"
     },
-    "output_dir": "outputs/train/2026-02-13/16-29-46_tg_diffusion",
-    "job_name": "tg_diffusion",
+    "output_dir": "outputs/train/2026-02-17/20-33-57_trace_act",
+    "job_name": "trace_act",
     "resume": false,
     "seed": 0,
-    "num_workers": 8,
-    "video_backend": null,
-    "batch_size": 256,
-    "steps": 50000,
+    "num_workers": 0,
+    "batch_size": 2,
+    "steps": 2,
     "eval_freq": 20000,
-    "log_freq": 200,
+    "log_freq": 1,
     "tolerance_s": 0.0001,
     "save_checkpoint": true,
-    "save_freq": 25000,
+    "save_freq": 10,
     "use_policy_training_preset": true,
     "optimizer": {
-        "type": "adam",
-        "lr": 0.0001,
-        "weight_decay": 1e-06,
+        "type": "adamw",
+        "lr": 1e-05,
+        "weight_decay": 0.0001,
         "grad_clip_norm": 10.0,
         "betas": [
-            0.95,
+            0.9,
             0.999
         ],
         "eps": 1e-08
     },
-    "scheduler": {
-        "type": "diffuser",
-        "num_warmup_steps": 500,
-        "name": "cosine"
-    },
+    "scheduler": null,
     "eval": {
         "n_episodes": 50,
         "batch_size": 50,
         "use_async_envs": false
     },
     "wandb": {
-        "enable": true,
+        "enable": false,
         "disable_artifact": false,
         "project": "lerobot",
         "entity": null,
         "notes": null,
-        "run_id": "3m8ll78q",
+        "run_id": null,
         "mode": null
     },
     "peft": null,